function [ ret ] = Reliability(point)
% Parameters
r = 2*sqrt(2)/log(2);
center = [0 2];
zMax = 4;
zMin = 1.2;
fov = pi/3;

% Observations
angle = atan2(point(2),point(1));
dis = pdist2(point, center, 'euclidean');

if (angle<= (pi/2 + fov/2)) && (angle>= (pi/2 - fov/2))  &&...
        (point(2)<=zMax)   && (point(2)>=zMin)
    ret = exp(-dis/r);
else
    ret = 0.1;
end

end

